version: 66.09
glider: 143
mission: 13
dive: 2119
start: 1 27 112 7 51 18
data:
$ID,143
$MISSION,13
$DIVE,2119
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,940
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,9
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,420
$T_MISSION,540
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51400
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,90
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,7
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,443.50238
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,2
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-261221.58
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,35
$C_ROLL_DIVE,3800
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,240
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2250
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-1
$PRESSURE_YINT,-22.40402
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,645
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043394179
$SEABIRD_T_H,0.00062698836
$SEABIRD_T_I,2.474318e-05
$SEABIRD_T_J,2.7476094e-06
$SEABIRD_C_G,-9.9261332
$SEABIRD_C_H,1.1046007
$SEABIRD_C_I,-0.00064730336
$SEABIRD_C_J,0.00014311814
$GPS1,270112,074305,6049.694,-6033.265,34,0.9,34,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-52.7
$GPS2,270112,075042,6049.613,-6033.126,18,1.0,19,-27.8
$SPEED_LIMITS,0.129,0.214
$TGT_NAME,HEADING
$TGT_LATLONG,6049.613,-6010.972
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,-0.110
$KALMAN_X,-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
$KALMAN_Y,5142783.5,-2598.4,-4936.8,2293075.0,39671.3
$MHEAD_RNG_PITCHd_Wd,83.0,20000,-15.9,-7.460
$D_GRID,1617
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.66,-116.8,0.0,0.0,0,186,0.00,0.00,-160.30,0.000,6,0.000,0.000,107,3813,2722,0,0,0,0,0,0
$GC,191,-0.66,-116.8,2.4,0.0,5,208,8.80,2.12,0.00,0.000,4,0.257,0.056,2091,2559,2723,0,0,0,0,0,0
$GC,427,-0.66,-116.8,40.2,-13.9,12,431,0.00,2.03,0.00,0.000,6,0.000,0.044,2086,3804,2724,0,0,0,0,0,0
$GC,1053,-0.66,-116.8,125.7,-12.1,30,1057,0.00,2.00,0.00,0.000,4,0.000,0.041,2085,2553,2722,0,0,0,0,0,0
$GC,1132,-0.66,-116.8,133.7,-11.8,31,1136,0.00,2.03,0.00,0.000,6,0.000,0.045,2079,3811,2723,0,0,0,0,0,0
$GC,1793,-0.66,-116.8,207.9,-11.1,42,1797,0.00,2.00,0.00,0.000,4,0.000,0.041,2079,2553,2723,0,0,0,0,0,0
$GC,1819,-0.66,-116.8,207.9,-11.1,42,1823,0.00,2.03,0.00,0.000,6,0.000,0.045,2072,3803,2723,0,0,0,0,0,0
$GC,2468,-0.66,-116.8,281.1,-10.7,53,2472,0.00,2.00,0.00,0.000,4,0.000,0.041,2073,2547,2723,0,0,0,0,0,0
$GC,2536,-0.66,-116.8,288.3,-10.6,54,2540,0.00,2.05,0.00,0.000,6,0.000,0.046,2067,3811,2724,0,0,0,0,0,0
$GC,3207,-0.66,-116.8,359.2,-10.7,65,3211,0.00,2.00,0.00,0.000,4,0.000,0.041,2066,2550,2726,0,0,0,0,0,0
$GC,3260,-0.66,-116.8,359.2,-10.7,65,3264,0.00,2.03,0.00,0.000,6,0.000,0.045,2059,3805,2726,0,0,0,0,0,0
$GC,3882,-0.66,-116.8,440.2,-12.7,76,3886,0.00,0.17,0.00,0.000,4,0.000,0.085,2058,3921,2727,0,0,0,0,0,0
$GC,3901,-0.66,-116.8,440.2,-12.7,76,3905,0.00,0.28,0.00,0.000,6,0.000,0.048,2058,3734,2727,0,0,0,0,0,0
$GC,4557,-0.66,-116.8,520.8,-11.5,87,4561,0.00,0.32,0.00,0.000,4,0.000,0.064,2058,3911,2727,0,0,0,0,0,0
$GC,4656,-0.66,-116.8,528.7,-11.4,88,4660,0.00,0.25,0.00,0.000,6,0.000,0.052,2058,3741,2727,0,0,0,0,0,0
$GC,5299,-0.66,-116.8,609.2,-12.6,99,5303,0.12,0.30,0.00,0.000,4,0.126,0.067,2094,3907,2728,0,0,0,0,0,0
$GC,5411,-0.66,-116.8,617.5,-12.5,100,5414,0.00,0.25,0.00,0.000,6,0.000,0.049,2094,3731,2728,0,0,0,0,0,0
$GC,6039,-0.66,-116.8,695.5,-11.6,111,6042,0.00,0.32,0.00,0.000,4,0.000,0.070,2094,3915,2729,0,0,0,0,0,0
$GC,6174,-0.66,-116.8,710.9,-11.5,113,6178,0.00,0.25,0.00,0.000,6,0.000,0.049,2094,3720,2729,0,0,0,0,0,0
$GC,6848,-0.66,-116.8,785.8,-11.2,124,6852,0.00,0.35,0.00,0.000,4,0.000,0.070,2094,3915,2729,0,0,0,0,0,0
$GC,7049,-0.66,-116.8,807.7,-11.0,127,7052,0.00,0.25,0.00,0.000,6,0.000,0.050,2094,3721,2729,0,0,0,0,0,0
$GC,7723,-0.66,-116.8,872.1,-8.6,138,7726,0.00,1.80,0.00,0.000,4,0.000,0.041,2094,2552,2729,0,0,0,0,0,0
$GC,7795,-0.66,-116.8,877.7,-8.5,139,7799,0.00,2.05,0.00,0.000,6,0.000,0.047,2093,3809,2729,0,0,0,0,0,0
$GC,8463,-0.66,-116.8,926.0,-6.9,150,8467,0.00,2.00,0.00,0.000,4,0.000,0.039,2092,2549,2729,0,0,0,0,0,0
$GC,8516,-0.66,-116.8,926.0,-6.9,150,8520,0.00,2.05,0.00,0.000,6,0.000,0.047,2089,3807,2729,0,0,0,0,0,0
$STATE,8709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8709,begin apogee
$GC,8722,-0.16,0.0,943.0,-6.8,154,8830,0.45,0.00,103.80,1.442,6,0.095,0.000,2245,1697,2250,0,0,0,0,0,0
$STATE,8833,end apogee,CONTROL_FINISHED_OK
$STATE,8833,begin climb
$GC,8837,0.66,116.8,947.2,0.0,155,8960,0.75,2.25,111.82,1.401,4,0.050,0.034,2517,2946,1772,0,0,0,0,0,0
$GC,9027,0.95,357.4,956.4,-2.9,158,9263,0.25,2.17,228.75,1.375,6,0.054,0.047,2622,1697,792,0,0,0,0,0,0
$GC,9887,0.95,357.4,853.2,13.2,173,9891,0.00,2.00,0.00,0.000,4,0.000,0.059,2632,457,784,0,0,0,0,0,0
$GC,9960,0.95,357.4,842.8,13.7,174,9964,0.00,1.95,0.00,0.000,6,0.000,0.028,2631,1724,783,0,0,0,0,0,0
$GC,10629,0.95,357.4,740.8,14.9,185,10633,0.00,1.88,0.00,0.000,4,0.000,0.046,2632,2925,782,0,0,0,0,0,0
$GC,10735,0.95,357.4,730.4,14.9,186,10740,0.12,1.95,0.00,0.000,6,0.141,0.041,2607,1693,783,0,0,0,0,0,0
$GC,11364,0.95,357.4,651.9,10.4,197,11367,0.00,1.95,0.00,0.000,4,0.000,0.057,2615,466,782,0,0,0,0,0,0
$GC,11621,0.95,357.4,632.4,9.7,200,11630,0.00,1.88,0.00,0.000,6,0.000,0.031,2615,1708,781,0,0,0,0,0,0
$GC,12235,0.95,357.4,566.1,10.0,211,12239,0.00,1.90,0.00,0.000,4,0.000,0.047,2615,2928,781,0,0,0,0,0,0
$GC,12347,0.95,357.4,558.7,10.2,212,12351,0.00,1.95,0.00,0.000,6,0.000,0.042,2623,1692,781,0,0,0,0,0,0
$GC,12975,0.95,357.4,476.3,13.3,223,12979,0.00,1.98,0.00,0.000,4,0.000,0.045,2623,2930,781,0,0,0,0,0,0
$GC,13110,0.95,357.4,457.7,13.6,225,13114,0.00,1.98,0.00,0.000,6,0.000,0.041,2632,1690,781,0,0,0,0,0,0
$GC,13785,0.95,357.4,362.8,14.3,236,13789,0.00,2.00,0.00,0.000,4,0.000,0.044,2632,2950,781,0,0,0,0,0,0
$GC,13877,0.95,357.4,352.5,14.4,237,13882,0.12,1.98,0.00,0.000,6,0.140,0.041,2607,1695,781,0,0,0,0,0,0
$GC,14518,0.95,357.4,264.8,13.0,248,14522,0.00,1.95,0.00,0.000,4,0.000,0.057,2615,466,781,0,0,0,0,0,0
$GC,14776,0.95,357.4,240.5,12.3,251,14783,0.00,1.88,0.00,0.000,6,0.000,0.029,2615,1703,781,0,0,0,0,0,0
$GC,15391,0.98,377.5,186.8,6.6,262,15413,0.00,1.98,16.73,0.913,4,0.000,0.046,2615,2928,711,0,0,0,0,0,0
$GC,15471,0.98,378.1,180.7,7.4,263,15475,0.00,1.98,0.00,0.000,6,0.000,0.041,2623,1697,710,0,0,0,0,0,0
$GC,16126,0.98,378.1,107.7,12.7,274,16129,0.00,1.95,0.00,0.000,4,0.000,0.057,2632,463,709,0,0,0,0,0,0
$GC,16383,0.98,378.1,77.2,12.7,280,16393,0.00,1.88,0.00,0.000,6,0.000,0.029,2632,1712,709,0,0,0,0,0,0
$FREEZE,6.31,-1.408,-1.853,2,1,0
$GC,17006,0.98,378.1,6.3,12.2,301,17010,0.00,1.88,0.00,0.000,4,0.000,0.048,2632,2927,710,0,0,0,0,0,0
$FREEZE,6.31,-1.408,-1.853,2,1,0
$FREEZE,6.31,-1.408,-1.853,2,1,0
$FREEZE,6.31,-1.408,-1.853,2,1,0
$FREEZE,1.56,NaN,-0.001,2,1,0
$STATE,17036,end climb,SURFACE_DEPTH_REACHED
$STATE,17037,begin surface coast
$FREEZE,1.56,NaN,-0.001,2,1,0
$FINISH,1.6,NaN
$STATE,17042,end surface coast,CONTROL_FINISHED_OK
$STATE,17043,begin surface
$SM_CCo,17065,32.17,0.073,0,0,441,443.50
$SM_GC,1.81,6.80,1.42,32.17,0.048,0.055,0.073,102,3791,441,-6.76,-1.02,443.50,0,0,0,0,0,0
$RAFOS_CLK,1051
$RAFOS,3,1327667127,12.433333,12.424167,72,59,56,0,0,0,194,151,135,0,0,0
$RAFOS,2,1327666678,12.300000,12.299444,60,57,57,0,0,0,207,193,182,0,0,0
$RAFOS,1,1327666143,12.166667,12.150833,64,62,52,0,0,0,223,157,197,0,0,0
$RAFOS,0,1327665700,12.033333,12.027778,72,58,56,0,0,0,204,171,152,0,0,0
$RAFOS,6,1327654191,8.833333,8.830833,59,55,55,0,0,0,189,158,208,0,0,0
$RAFOS,5,1327653695,8.700000,8.693055,56,56,51,0,0,0,146,212,189,0,0,0
$RAFOS,4,1327653183,8.566667,8.550834,55,54,54,0,0,0,203,190,160,0,0,0
$RAFOS,3,1327652717,8.433333,8.421389,61,58,58,0,0,0,175,130,188,0,0,0
$RAFOS,2,1327652225,8.300000,8.284722,73,61,58,0,0,0,201,213,157,0,0,0
$RAFOS,1,1327651748,8.166667,8.152223,60,60,60,0,0,0,176,195,210,0,0,0
$RAFOS,0,1327651268,8.033334,8.018888,58,57,55,0,0,0,145,126,166,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6032.86,-6033.96,260112,101034
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.35
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,17.20
$XPDR_PINGS,16
$ALTIM_TOP_PING,17.4,15.0
$24V_AH,22.0,56.112
$10V_AH,9.9,66.632
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.425,77.100,461.100,32.175,0.000,0.000,0.000,244.300,7.500,0.000,19.692,1152.089,13984.524,575.386,1444.605,409.650,0.000,1568.704,0.000,1217.159,4320.000,25.604,0.000
$DEVICE_MAMPS,257.040,84.915,1442.025,73.440,0.000,0.000,0.000,240.443,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,190.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270300
$DATA_FILE_SIZE,13492,302
$CAP_FILE_SIZE,99255,0
$CFSIZE,260165632,208560128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1465.0
$CURRENT,0.366, 38.8,1
$GPS,270112,123753,6048.905,-6033.823,42,0.9,42,-27.7